Laundry apparatuses having dynamic balancing assemblies

ABSTRACT

A laundry apparatus includes a tub, a drum, a control unit, a motor, and a dynamic balancing assembly. The drum is positioned within a fluid containment envelope of the tub and rotatable relative to the tub about a primary rotation axis. The motor is coupled to the tub and operatively coupled to the drum to cause rotation of the drum. The dynamic balancing assembly includes an orbital balancing passage arranged concentrically around the motor, a first counterweight device, and a second counterweight device. The first and second counterweight devices are positioned within the orbital balancing passage and are responsive to the control unit to move the first and second counterweight devices along the orbital balancing passage to adjust an angular position of the first and second counterweight devices. A cross-sectional plane passes through the dynamic balancing assembly, the motor, and the fluid containment envelope of the tub.

FIELD

The present application relates to laundry apparatuses and in particular, laundry apparatuses that include dynamic balancing assemblies.

BACKGROUND

A laundry machine is an apparatus used to wash and/or dry a user's laundry (e.g., clothes, bedding, etc.). Generally, laundry machines having functionality to wash the user's laundry include a tub that receives and contains washing fluids (e.g., water, detergent, etc.), a drum rotatably installed in the tub, and a motor to rotate the drum. Through rotation of the drum, a series of washing stages including washing, rinsing, and spin cycle may be performed to substantially remove washing fluids from the laundry.

During the spin cycle, the drum typically spins laundry positioned therein at a rotational velocity sufficient for the centripetal acceleration to exceed gravitational acceleration causing the wet laundry to be pinned against the inside surface of the drum. Often the mass of the wet laundry is not uniformly distributed around the inside periphery of the drum and the composite center of mass of the rotating laundry is offset from the drum's axis of rotation. The offset of the center of mass of the rotating laundry from the primary rotation axis of the drum can generate strong vibrations, which can generate unwanted noise and/or damage components of the washing machine, such as the displaceable suspension, drum, drum bearings, tub, exterior housing, etc. Additionally, these vibrations may cause the entire laundry machine to vibrate which may be transmitted to the surrounding building in which the laundry machine is operated and/or cause the laundry machine to translate across the floor.

For this reason, laundry machines may include a balancing assembly to reduce vibration and stabilize the laundry machine by counteracting the load imbalance within the rotating drum. However, conventional balancing assemblies tend to be mounted to the drum in such a way that reduces capacity of the drum and therefore the reduces the amount of laundry the laundry machine is able to accommodate. Additionally, making a laundry machine larger to allow for greater load capacity may prevent use in smaller homes and/or apartments which may lack the appropriate space for larger laundry machines

Accordingly, a need exists for laundry apparatuses that include dynamic load balancing assemblies while maximizing load capacity.

SUMMARY

In an embodiment, a laundry apparatus includes a tub defining a fluid containment envelope, a drum positioned within the fluid containment envelope of the tub and rotatable relative to the tub about a primary rotation axis, a control unit, a motor coupled to the tub, one or more load imbalance sensors communicatively coupled to the control unit and configured to output a load imbalance signal to the control unit, and a dynamic balancing assembly communicatively coupled to the control unit. The drum includes a laundry-receiving portion for receiving one or more articles of laundry. The motor is communicatively coupled to the control unit and operatively coupled to the drum to cause rotation of the drum, wherein the motor is isolated from fluid within the fluid containment envelope. The load imbalance signal is indicative of a load imbalance within the drum. The dynamic balancing assembly includes an orbital balancing passage arranged concentrically around the motor, a first counterweight device positioned within the orbital balancing passage and responsive to the control unit, wherein the control unit controllably moves the first counterweight device along the orbital balancing passage to adjust an angular position of the first counterweight device around the primary rotation axis to counteract a detected load imbalance in the drum; and a second counterweight device positioned within the orbital balancing passage and responsive to the control unit, wherein the control unit controllably moves the second counterweight device along the orbital balancing passage to adjust an angular position of the second counterweight device around the primary rotation axis to counteract the detected load imbalance in the drum. A cross-sectional plane passing through the laundry apparatus at a position orthogonal to the primary rotation axis passes through the dynamic balancing assembly, the motor, and the fluid containment envelope of the tub.

In another embodiment, a laundry apparatus includes a tub, a drum, a control unit, a motor, one or more load imbalance sensors, and a dynamic balancing assembly. The tub includes a fluid containment envelope and a motor receiving envelope that extends into a volume of the fluid containment envelope and is isolated from fluid received in the fluid containment envelope. The drum is positioned within the fluid containment envelope of the tub and rotatable relative to the tub about a primary rotation axis centrally positioned in the tub, the drum comprising a laundry-receiving portion for receiving one or more articles of laundry. The motor is positioned within the motor receiving envelope such that the motor is positioned within the volume of the fluid containment envelope and isolated from the fluid received in the fluid containment envelope, wherein the motor is communicatively coupled to the control unit and operatively coupled to the drum to cause rotation of the drum. The one or more load imbalance sensors are communicatively coupled to the control unit and configured to output a load imbalance signal to the control unit, the load imbalance signal being indicative of a load imbalance within the drum. The dynamic balancing assembly is communicatively coupled to the control unit and attached to the drum within the fluid containment envelope. The dynamic balancing assembly includes an orbital balancing passage arranged concentrically around the motor, a first counterweight device positioned within the orbital balancing passage and responsive to the control unit, wherein the control unit controllably moves the first counterweight device along the orbital balancing passage to adjust an angular position of the first counterweight device around the primary rotation axis to counteract a detected load imbalance in the drum, and a second counterweight device positioned within the orbital balancing passage and responsive to the control unit, wherein the control unit controllably moves the second counterweight device along the orbital balancing passage to adjust an angular position of the second counterweight device around the primary rotation axis to counteract the detected load imbalance in the drum. A cross-sectional plane passing through the laundry apparatus at a position orthogonal to the primary rotation axis passes through the dynamic balancing assembly, the motor receiving envelope of the tub, and the fluid containment envelope of the tub.

In another embodiment, a method for balancing a laundry apparatus includes rotating a drum positioned within a fluid containment envelope of a tub with a motor about a primary rotation axis, the motor being positioned within a motor receiving envelope that isolates the motor from a fluid within the fluid containment envelope, detecting, with a control unit, a load imbalance signal output by one or more load imbalance sensors, wherein the load imbalance signal is indicative of a load imbalance within the drum, and controlling a dynamic balancing assembly coupled to the drum and positioned within the fluid containment enveloped. The dynamic balancing assembly includes an orbital balancing passage arranged concentrically around the motor, a first counterweight device positioned within the orbital balancing passage, and a second counterweight device positioned within the orbital balancing passage. The dynamic balancing assembly is controlled to controllably move the first counterweight device positioned within the orbital balancing passage to adjust an angular position of the first counterweight device around the primary rotation axis to counteract a detected load imbalance in the drum, and controllably move the second counterweight device positioned within the orbital balancing passage with the control unit to adjust an angular position of the second counterweight device around the primary rotation axis to counteract the detected load imbalance in the drum. A cross-sectional plane passing through the laundry apparatus at a position orthogonal to the primary rotation axis passes through the dynamic balancing assembly, the motor, and the fluid containment envelope of the tub.

BRIEF DESCRIPTION OF THE DRAWINGS

While the specification concludes with claims particularly pointing out and distinctly claiming the present invention, it is believed the same will be better understood from the following description taken in conjunction with the accompanying drawing in which:

FIG. 1A schematically illustrates a perspective view of a laundry apparatus, according to one or more embodiments shown and described herein;

FIG. 1B schematically illustrates a front cross-sectional view of the laundry apparatus of FIG. 1 A with an imbalanced load, according to one or more embodiments shown and described herein;

FIG. 1C schematically illustrates a front cross-sectional view of the laundry apparatus of FIG. 1A with a balanced load, according to one or more embodiments shown and described herein;

FIG. 1D schematically illustrates a perspective view of an enclosed laundry apparatus, according to one or more embodiments shown and described herein;

FIG. 2A schematically depicts a front perspective view of a tub and drum assembly of the laundry apparatus of FIG. 1, according to one or more embodiments shown and described herein;

FIG. 2B schematically depicts a rear perspective view of a tub and drum assembly of the laundry apparatus of FIG. 1, according to one or more embodiments shown and described herein;

FIG. 2C schematically depicts a side cross-sectional view of the tub and drum assembly of FIGS. 2A and 2B, according to one or more embodiments shown and described herein;

FIG. 3 schematically depicts a side cross-sectional view of a tub of the tub and drum assembly of FIGS. 2A and 2B in isolation; and

FIG. 4 schematically illustrates a dynamic balancing assembly in isolation from the tub and drum assembly of FIGS. 2A and 2B, according to one or more embodiments shown and described herein;

FIG. 5A schematically depicts a counterweight device of the dynamic balancing assembly of FIG. 4, according to one or more embodiments shown and described herein;

FIG. 5B schematically depicts an interior perspective view of a worm gear drive within the counterweight device illustrated in FIG. 5A;

FIG. 6 depicts a flowchart illustrating a method of balancing a laundry apparatus, according to one or more embodiments shown and described herein;

FIG. 7A schematically illustrates a side cross-sectional view of a laundry apparatus, according to one or more embodiments, shown and described herein;

FIG. 7B schematically illustrates a side cross-sectional view of a laundry apparatus, according to one or more embodiments, shown and described herein;

FIG. 7C schematically illustrates a side cross-sectional view of a laundry apparatus, according to one or more embodiments, shown and described herein;

FIG. 7D schematically illustrates a side cross-sectional view of a laundry apparatus, according to one or more embodiments, shown and described herein;

FIG. 7E schematically illustrates a side cross-sectional view of a laundry apparatus, according to one or more embodiments, shown and described herein;

FIG. 7F schematically illustrates a side cross-sectional view of a laundry apparatus, according to one or more embodiments, shown and described herein;

FIG. 7G schematically illustrates a side cross-sectional view of a laundry apparatus, according to one or more embodiments, shown and described herein;

FIG. 7H schematically illustrates a side cross-sectional view of a laundry apparatus, according to one or more embodiments, shown and described herein;

FIG. 8A illustrates a front cross-sectional view of a laundry apparatus with a tub and drum assembly mounted to an exterior housing through a displaceable suspension assembly, according to one or more embodiments shown and described herein;

FIG. 8B illustrates a side cross-sectional view of the laundry apparatus of FIG. 8A, according to one or more embodiments shown and described herein;

FIG. 9A illustrates a front cross-sectional view of a laundry apparatus with a tub and drum assembly mounted to an exterior housing through one or more tub mounts, according to one or more embodiments shown and described herein;

FIG. 9B illustrates a side cross-sectional view of the laundry apparatus of FIG. 9A, according to one or more embodiments shown and described herein;

FIG. 10A Illustrates a front cross-sectional view of a laundry apparatus with a tub and drum assembly mounted to an exterior housing through one or more tub mounts with additional laundry apparatus components positioned within free space between the exterior housing and the tub and drum assembly, according to one or more embodiments shown and described herein; and

FIG. 10B illustrates a side cross-sectional view of the laundry apparatus of FIG. 10A, according to one or more embodiments shown and described herein.

DETAILED DESCRIPTION

Embodiments described herein may be understood more readily by reference to the following detailed description. It is to be understood that the scope of the claims is not limited to the specific compositions, methods, conditions, devices, or parameters described herein, and that the terminology used herein is not intended to be limiting. In addition, as used in the specification, including the appended claims, the singular forms “a,” “an,” and “the” include the plural, and reference to a particular numerical value includes at least that particular value, unless the context clearly dictates otherwise. When a range of values is expressed, another embodiment includes from the one particular value and/or to the other particular value. Similarly, when values are expressed as approximations, by use of the antecedent basis “about,” it will be understood that the particular values form another embodiment. All ranges are inclusive and combinable.

Embodiments described herein are generally directed to a laundry apparatuses that include dynamic balancing assemblies while maximizing volumetric space for receiving laundry. For example, and as illustrated in the figures, a laundry apparatus according to the present disclosure generally includes a tub, a drum, and a dynamic balancing assembly. The drum is positioned within a fluid containment envelope of the tub and is rotatable relative to the tub about a primary rotation axis, the drum defines a laundry-receiving portion for receiving one or more articles of laundry. The dynamic balancing assembly includes an orbital balancing passage, arranged concentrically around a motor of the laundry apparatus, and first and second counterweight devices are positioned within the orbital balancing passage. The dynamic balancing assembly is positioned relative to the tub and/or drum so that a common cross-sectional plane passes through the dynamic balancing assembly, the motor, and the fluid containment envelope of the tub. As shown in the illustrated embodiments, such configuration allows for maximization of volume within the tub while still providing desired load balancing. These and additional features will be discussed in greater detail below.

As used herein, the term laundry apparatus may include a washing machine or combination washer/dryer machine. For example, the term laundry apparatus can describe any machine that relies on the centripetal acceleration from spinning to extract fluid from a wetted textile material including a dry cleaning machine, a washing machine, a washing machine employing working fluid other than water, centrifugal spinner, laundry dryer, etc. Additionally, laundry apparatuses may include any sized laundry apparatus including, but not limited to, industrial or residential sized units (including miniaturized and/or apartment units).

Referring to FIG. 1A, a laundry apparatus 10 is generally depicted. The laundry apparatus 10 may include an enclosed exterior housing 20. Positioned within and supported by the exterior housing 20 is a tub and drum assembly 100. The tub and drum assembly 100 may be accessible through an exterior housing port 11 formed within the exterior housing 20 that is selectively accessible by opening/closing of a hinged door 22, for example. The laundry apparatus 10 may be a front-load laundry apparatus (e.g., a front-load washing machine) or, in other embodiments, may be a top load laundry apparatus (e.g., a top-load washing machine). In other embodiments the exterior housing port 11 might be positioned anywhere around the exterior housing 20 such as the side, back, bottom, or at some oblique angle.

Still referring to FIG. 1A, the laundry apparatus 10 may further include a control unit 24. The control unit 24 may include processing circuitry and a non-transitory memory that includes logic in the form of machine-readable instructions that is used to control one or more operations of the laundry apparatus 10 as will be described in greater detail herein. For example, the control unit 24 may execute logic to operate valves and pumps during the washing and/or drying cycles, thereby controlling the various washing, rinsing, and spin cycles. The control unit 24 may further control a balancing operation by a dynamic balancing assembly 150, which will be described in greater detail below.

Referring now to FIG. 1B the laundry apparatus 10 is depicted more schematically to further illustrate the tub and drum assembly 100 within the exterior housing 20, the tub and drum assembly 100 includes a tub 110 and a drum 130. The drum 130 is configured to rotate about a primary rotation axis 102 within the tub 110. The primary rotation axis 102 can be horizontal (e.g., parallel to the X/Y plane of the depicted coordinate axes), vertical (e.g., parallel to Z axis of the depicted coordinate axes), or at any angle, relative to the depicted coordinate axes.

Laundry 60 may be placed inside the drum 130 for laundering purposes. Laundry 60 may include, for example, soiled clothing, linens, and other fabric or textile articles. The laundry 60 may be washed and rinsed inside the drum 130. During washing and rinsing with water, the laundry 60 may absorb water increasing the weight of the laundry 60. The mass of water absorbed may be, for example, about 200% to about 400% the dry weight of the laundry 60. Much of the absorbed water can be extracted mechanically by applying sustained high centripetal acceleration to the laundry 60 by spinning of the drum 130. Spinning speeds may be about 700 rpm to about 1400 rpm. Centrifugal water extraction is commonly referred to as the spin cycle and depending on spin speed and geometry can generate centripetal acceleration of about 100 to about 600 times the acceleration of gravity. During the spin cycle, the drum 130 spins the laundry 60 at a rotational velocity sufficient for the centripetal acceleration to exceed gravitational acceleration such that the wet laundry 60 is pinned against the inside surface of the drum 130. The rotational velocity sufficient for the centripetal acceleration to exceed gravitation acceleration is known as the satellite speed.

As noted above, during the spin cycle, the mass of the wet laundry 60 may not be uniformly distributed around the inside periphery of the drum 130. Referring now to FIG. 1C, a schematic cross-sectional view of the tub and drum assembly 100 is depicted. As illustrated, the center of mass 61 of the rotating laundry 60 may be offset from the primary rotation axis 102 of the drum 130, resulting in an imbalanced load within the drum 130. This imbalanced load can generate vibrations within the laundry apparatus 10. Such vibrations can generate unwanted noise, cause damage to the laundry apparatus 10, cause the laundry apparatus 10 to travel across the floor, and or transmit vibrations to the surrounding building in which the laundry apparatus 10 is used, and/or cause unwanted vibration of the entire laundry apparatus 10 which can, as noted above, transmit into surrounding structure and shake the building in which the laundry apparatus 10 is used. As will be described in greater detail herein, load imbalance sensors 146 may be provided to detect the magnitude and rotational position of the imbalance and a dynamic balancing assembly 150 responsive to the detected load imbalance may be actuated to balance the laundry 60 within the drum 130.

For example, and as will be described in greater detail herein, the dynamic balancing assembly 150 can be employed to reduce or eliminate the vibration caused by imbalanced laundry 60. The dynamic balancing assembly 150 may include one or more counterweight devices and can include in some embodiments, at least two counterweight devices. For example, the dynamic balancing assembly may include a first counterweight device 170 a and a second counterweight device 170 b that are restrained to the rotating drum 130. In the illustrated embodiments, the counterweight devices 170 a, 170 b follow an orbital path at a fixed radius from the primary rotation axis 102. The relative angular position 53 a, 53 b for each counterweight device 170 a, 170 b can be adjusted relative to the reference angular position 52 on drum 130. As an example load balancing operation, before the spin cycle, the angular positions 53 a and 53 b may be adjusted such that counterweight devices 170 a and 170 b are across from each other to provide balance between the first counterweight device 170 a and the second counterweight device 170 b. The center of mass 55 a for first counterweight device 170 a and center of mass 55 b for second counterweight device 170 b have a combined center of mass at the primary rotation axis 102. At speeds of about 100 rpm to about 200 rpm, the laundry 60 may be pinned by centripetal acceleration against the inside surface of rotating drum 130. While pinned to the surface of the rotating drum, the center of mass 61 of the laundry 60 may be fixed at an angular position 62 from the reference angular position 52. As illustrated, without balancing, the combined center of mass 63 (e.g., of the laundry 60, the first counterweight device 170 a, and the second counterweight device 170 b) is offset from the primary rotation axis 102 and will generate an imbalance and create vibration. As will be described in greater detail herein, load imbalance sensors 146 can detect the magnitude and rotational position of the combined center of mass 63. Based on the detected magnitude and angular position 62 of the combined center of mass 63, the angular positions 53 a and 53 b of the counterweight devices 170 a, 170 b can be adjusted (e.g., in a direction 57 a, 57 b of orbital travel) to shift the combined center of mass 63 closer to the primary rotation axis 102, as illustrated in FIG. 1D. When balanced, the combined center of mass 63 may be coincident to the primary rotation axis 102. A balanced laundry apparatus 10 will run smoothly without substantial vibration.

FIGS. 2A and 2B illustrate the tub and drum assembly 100 in isolation from the exterior housing 20 of the laundry apparatus 10. FIG. 2C illustrates a cross-sectional view of the tub and drum assembly 100 of FIGS. 2A and 2B. Referring collectively to FIGS. 2A-2C, the tub and drum assembly 100 generally include a tub 110, a drum 130, a motor 140, one or more load balance sensors 146, and the dynamic balancing assembly 150,

The tub 110 is configured to support rotation of various components of the laundry apparatus 10 mounted thereto, while also containing washing fluids (e.g., water, detergent, bleach, softener, etc.) therein. A cross-section of the tub 110 in isolation from the tub and drum assembly 100 is illustrated in FIG. 3. The tub 110 comprises a tub body 112 that is shaped to provide a fluid containment envelope 113. The tub body 112 may also be shaped to provide a motor receiving envelope 111 that extends into a volume of the fluid containment envelope 113.

The tub body 112 may include a front wall 114 that is sized and shaped to surround exterior housing port 11 (illustrated in FIG. 1A) and defines a tub laundry port 115. A sidewall 116 of the tub body 112 may extend from the front wall 114 to a rear wall 117, which defines a maximum depth of the tub 110, to provide the fluid containment envelope 113. Ports, not shown, for the ingress and egress of fluid into the fluid containment envelope 113 may be provided within the tub body 112.

Formed within the rear wall 117 of the tub body 112 is the motor receiving envelope 111 sized and shaped to receive and support the motor 140 therein. For example, the rear wall 117 may define a rear-facing surface 118. The motor receiving envelope 111 may extend from the rear-facing surface 118 into a volume of the fluid containment envelope 113. In particular, a depth of the motor receiving envelope 111 may correspond to an axial depth of the motor 140 such that the motor 140 is substantially flush with or inset from with a rear-facing surface 118 of the rear wall 117. The tub body 112 may further define a drive shaft opening 121 to support a drive shaft 144 extending from the motor 140 to be coupled to the drum 130. The drive shaft 144 may be supported by a main bearing assembly 159 that is fixedly attached to the tub 110 (e.g., to a surface of the drive shaft opening 121) and operatively connected to the drum 130 thereby providing radial and axial support to the drum 130.

In some embodiments, the main bearing assembly 159 includes a pair of rolling bearings such as deep groove ball bearings, angular contact bearings, cylindrical roller bearings, tapered roller bearings, spherical roller bearings, etc. The main roller bearing assembly may also include polymer or metallic bushings, air bearings, or magnetic bearings. The main bearing assembly 159 is configured to provide radial and axial support for the drum 130 as well as transmit any moments generated by imbalances in the drum 130 to the tub 110.

Referring to FIG. 2C, the drum 130 is illustrated in a cantilevered configuration where the drum is supported from the rear by the main baring assembly 159 which is opposite of the drum opening 134 on the front side of the drum 130. To better support moments from the drum 130, it may be beneficial to maximize axial separation between bearing elements in the main bearing assembly 159. As illustrated in FIG. 2C, the main bearing assembly 159 and drive shaft opening 121 can be axially extended back to fit inside the motor 140 and forward inside the protruding portion 138 of the drum body 132. However, in other embodiments the drum 130 may be supported by a bearing assembly 159 on each end of the drum 130. In such embodiment, the drum opening 134 might be on the front end of the drum 130 or might be on the side of the drum 130.

As noted above, the motor 140 may be operatively coupled to the drum 130 for rotating the drum 130 within the fluid containment envelope 113 of the tub 110. For example, the motor 140 may be rotatively coupled to the drum 130 via the drive shaft 144 that extends through the drive shaft opening 121. In some embodiments, the drive shaft 144 might be directly attached to the drum 130. In other embodiments, the drive shaft 144 might be attached to a support plate 156 and support plate 156 attached to the drum 130. In other embodiments, the drive shaft 144 may be integrally formed with the drum 130. In some embodiments, the drum 130 may be magnetically driven, such that no drive shaft 144 is needed. In some embodiments, the motor rotor 142 may be directly attached to the drum 130 and, such that no drive shaft 144 is needed.

The motor receiving envelope 111 of the tub 110 substantially isolates the motor 140 from washing fluid within the tub 110 and drum 130. For example, the motor receiving envelope 111 may have a first inset wall 119 that extends into the volume of the fluid containment envelope 113 between the motor 140 and the orbital balancing passage 152, as will be described in greater detail below. In some embodiments, the motor 140 may include a motor rotor 142 and a motor stator 143. In the illustrated embodiment, at least a surface of the tub 110 and a surface of the motor 140 are substantially flush with one another. For example, and as illustrated an outer surface 147 of the motor rotor 142 is substantially flush with the rear-facing surface 118 of the tub 110. Such may allow the tub 110 in close proximity with a back wall of the exterior housing 20 of the laundry apparatus 10, thus maximizing the volume within the exterior housing 20 which may be used for laundry washing and/or drying purposes. In some embodiments, the surface of the tub 110 and the surface of the motor 140 may be offset from one another.

Referring again to FIGS. 2A-2C, the drum 130 is positioned within the fluid containment envelope 113 of the tub 110 and is rotatable relative to the tub 110 about a primary rotation axis 102 (illustrated in FIG. 2C). The drum 130 includes a drum body 132 that is shaped to provide a laundry-receiving portion 133 for receiving one or more articles of laundry therein. For example, the laundry-receiving portion 133 may include a drum opening 134 for receiving/removal of laundry into the drum body 132. The drum opening 134 may be arranged within the fluid containment envelope 113 of the tub 110 so as to be aligned with the tub laundry port 115 for access into the drum body 132. The drum body 132 may include a plurality of apertures (not shown) to allow fluid to flow into and out of the drum body 132.

The drum body 132 may extend from the drum opening 134 to a base wall section 136. The base wall section 136 may define a recessed portion 137 and a protruding portion 138. The protruding portion 138 may be centrally arranged on the primary rotation axis of the drum 130. The recessed portion 137 may be concentrically arranged around the protruding portion 138 with a sloping wall 139 joining the recessed portion 137 and the protruding portion 138. Stated another way, a depth of the laundry-receiving portion 133 of the drum 130 may be greatest when measured at the recessed portion 137, and shortest when measured at the protruding portion 138. The protruding portion 138 may be coupled to a drive shaft 144 of the tub and drum assembly 100.

The drum 130 may further include one or more agitators 135 coupled to or integral with the drum body 132. The one or more agitators 135 may be arranged to provide agitation to washing fluids and laundry within the laundry-receiving portion 133 of the drum 130. The one or more agitators 135 may aid in removing debris from laundry through contact of the laundry with the one or more agitators 135. The one or more agitators 135 may extend along a sidewall section 158 of the drum 130 and along the base wall section 136 to the protruding portion 138. The one or more agitators 135 may be evenly spaced around the circumference of the drum 130.

Coupled to the base wall section 136 may be the dynamic balancing assembly 150. The dynamic balancing is configured to counter imbalances within the drum and tub assembly 100 created by spinning laundry, which may result in a smooth operation of the laundry apparatus 10 and eliminate a need to suspend the tub 110 from the exterior housing 20 by a traditional displaceable suspension system (e.g., springs, dampers, masses, etc.).

The dynamic balancing assembly 150 is adjustably arranged by the control unit 24 to balance a load imbalance within the tub and drum assembly 100. The load imbalance can be detected by the control unit 24 based on an output of one or more load imbalance sensors 146. However, it is contemplated that, in some embodiments, the dynamic balancing assembly 150 can be passive in operation with no automatic adjustment by the control unit 24. Some examples of passive dynamic balancing assembly may include rings filled with fluids or weighted balls.

Still referring to FIG. 2C, in order to facilitate dynamic balancing, the dynamic balancing assembly 150 may include an orbital balancing passage 152, a first counterweight device 170 a, and a second counterweight device 170 b positioned within the orbital balancing passage 152. As noted above with reference to FIGS. 1C and 1D, the angular position for the first and second counterweight device 170 a, 170 b are adjustable relative to the reference angular position 52 of the drum to move the combined center of mass 63 of the laundry 60 and the first counterweight device 170 a, and the second counterweight device 170 b. The angular position 53 a of the first counterweight device 170 a and the angular position 53 b of the second counterweight device 170 b may be adjusted by any amount to move the combined center of mass 63 to be substantially coincident with the primary rotation axis 102. During some balancing operations, the first and second counterweight devices 170 a, 170 b may be adjusted by a total angular displacement of 360 degrees or more during the spin cycle.

The orbital balancing passage 152 may provide a passage through which the first and second counterweight devices 170 a, 170 b may travel to balance a load imbalance within the tub and drum assembly 100. For example, the orbital balancing passage 152 may be arranged concentrically around and provide an arcuate passage around the motor 140 and the primary rotation axis 102. The orbital balancing passage 152 may be the coupled to the base wall section 136 of the drum 130. In some embodiments, and as depicted, the orbital balancing passage 152 may be coupled to the base wall section 136 by a support plate 156. The orbital balancing passage 152 may be coupled to the support plate 156 through any coupling techniques (e.g., welding, brazing, fastening, etc.) or may be integrally formed therewith. In some embodiments, the orbital balancing passage 152 may instead be directly coupled or integrally formed with the base wall section 136 of the drum 130.

The orbital balancing passage 152 may include a passage body 154, which constrains motion of the first and second counterweigh devices 170 a, 170 b to an orbiting motion about the primary rotation axis 102. For example, the orbital balancing passage 152 may define a first orbital chamber 160 in which at least one of the first and second counterweight devices 170 a, 170 b sit. It is noted that while the first and second counterweight devices 170 a, 170 b are illustrated as being positioned within the same orbital chamber. In some embodiments, the first and second counterweight devices 170 a, 170 b may sit in parallel but separate orbital chambers. Such parallel orbital loads chambers may allow for concentration of the center of masses 55 a, 55 b of the first and second counterweight device 170 a, 170 b at the same angular position to provide greater load balance capabilities. In alternative embodiments the orbital balancing passage 152 does not include a passage body 154 that constrains radial motion of the first and second counterweight devices. Instead, the orbital chamber 160 may include a ring-shaped region of volume around the motor 140 and tub first inset wall 119. For example, the first and second counterweight devices 170 a, 170 b can be rigidly coupled to disks coupled to a rotational shaft rotating around primary rotation axis 102.

In embodiments, to maintain the first and second counterweight devices 170 a, 170 b within the first orbital chamber 160, the dynamic balancing assembly 150 may include an orbital positioning device 164 arranged to enclose the first and second counterweight devices 170 a, 170 b within the orbital balancing passage 152. The orbital positioning device 164 may further be arranged to restrain a first angular position of the first counterweight device 170 a and a second angular position of the second counterweight device 170 b within the orbital balancing passage 152. For example, the orbital positioning device 164 may be a restraining wall 166, which constrains the first and second counterweight devices 170 a, 170 b into contact with the orbital balancing passage 152, such that the first and second counterweight devices 170 a, 170 b are only able to move in an arcuate path at a constant radius around the primary rotation axis 102 of the tub and drum assembly 100.

In some embodiments, the orbital positioning device 164 may include a ring gear 167 that interacts with the first and second counterweight devices 170 a, 170 b to allow the first and second counterweight devices 170 a, 170 b to engage and traverse the ring gear 167 to move in an arcuate path about the primary rotation axis 102 of the tub and drum assembly 100 while remaining positioned within the first orbital chamber 160.

In some embodiments, the orbital positioning device 164 may include both a ring gear 167 and a restraining wall 166, which are positioned directly parallel to one another and are separated from one another by a gap 169. As will be explained in greater detail herein, the gap 169 may allow for passage of one or more wires for communicatively coupling the first and second counterweigh devices 170 a, 170 b with the control unit 24.

As noted above, motion of the first and second counterweight devices 170 a, 170 b may be responsive to communications from the control unit 24. The control unit 24 may communicate with the first and second counterweight devices 170 a, 170 b through wireless or wired communications. Orbital movement of the first and second counterweight devices 170 a, 170 b may make maintaining wired communication difficult due to twisting and tangling of the wires. An alternative approach is brushed commutation with slip rings or brushes and commutators. Brushed approaches face challenges with corrosion and wear especially in a wet environment. Wired connections can be made fully hermetic and impervious to moisture if the cable management challenges can be overcome. One approach may be to use one or more clock springs. For example, the one or more clocksprings may include first and second clocksprings 180 a, 180 b that communicatively couple the first and second counterweight devices 170 a, 170 b to the control unit 24 (illustrated in FIG. 1). The first and second clocksprings 180 a, 180 b may be positioned concentrically with the orbital balancing passage 152. FIG. 4 illustrates the first and second clocksprings 180 a, 180 b, the first and second counterweight devices 170 a, 170 b, and the ring gear 167 in isolation from the rest of the dynamic balancing assembly 150. The first and second clocksprings 180 a, 180 b may be axially displaced along the primary axis 102 to allow independent orbital motion of the first and second clocksprings 180 a, 180 b.

In the illustrated embodiment, the first clockspring 180 a is coupled to the first counterweight device 170 a and the second clockspring 180 b is coupled to the second counterweight device 170 b. Clocksprings may be characterized in that they generally include a flat cable wound in a coiled (spiral) shape. Each of the first and second clocksprings 180 a, 180 b may include, for example, an electrical cable with one more electrical conductors to communicate electrical signals and voltage. For example, a ribbon cable may be suitable for clockspring construction. Each clockspring 180 a, 180 b may communicate power and motor signals to driving motors 174 a, 174 b to move the first and/or second counterweight devices 170 a, 170 b along the orbital balancing passage 152 to adjust an angular position of the first and/or second counterweight devices 170 a, 170 b around the primary rotation axis 102. In embodiments, the clocksprings 180 a, 180 b may also communicate position feedback and/or other sensor signals from the orbiting counterweight devices 170 a, 170 b back to the control unit 24. Sensors included in or on the orbiting counterweights devices 170 a, 170 b may include, but are not limited to, force sensors, vibration sensors, temperature sensors, position feedback sensors, accelerometer sensors, etc.

As the first and second counterweight devices 170 a, 170 b orbit about the ring gear 167, the coil winds tighter or loosens depending on the direction of travel while maintaining the electrical connection. A clockspring has limited range of angular travel. At the end of travel the coil cannot accommodate additional relative angular motion between the inside and outside of the coil. Clocksprings according to the present disclosure may accommodate one or more revolutions of angular travel (e.g., two or more revolution, 3 or more revolutions, four or more revolutions, four of fewer revolutions, etc.). The control unit 24 may execute logic to ensure that the first and second counterweight devices 170 a, 170 b are only able to make a certain number of revolutions or move a certain degree around the orbital balancing passage 152 to not exceed the angular travel possible for the clocksprings 180 a, 180 b. This may avoid stretching or damaging the cable and maintains electrical connection between the counterweight devices 170 a, 170 b and control unit 24. After the spin cycle and balancing is complete, the position of both first and second counterweight devices 170 a and 170 b can be returned to a home position that is, for example, in the middle of angular travel range for the first and second clocksprings 180 a and 180 b.

Referring again to FIG. 2C, the orbital balancing passage 152 may further define a clockspring chamber 168 positioned radially inward from the first orbital chamber 160. Each of the first and second clocksprings 180 a, 180 b may be positioned within the clockspring chamber 168. To connect to the first and second counterweight devices 170 a, 170 b, lead wires from the first and second clocksprings 180 a, 180 b may extend through the gap 169 to be coupled to the respective first and second counterweight devices 170 a, 170 b.

As noted above, the orbital balancing passage 152 (including the first orbital chamber 160 and the clockspring chamber 168) may be directly coupled to the base wall section 136 or may be coupled to the base wall section 136 by support plate 156. The support plate 156 may extend along the base wall section 136 and be shaped to conform to a shape of the protruding portion 138 and the recessed portion 137. That is, the support plate 156 may be coextensive along the at least a portion of the base wall section 136. The support plate 156 may be coupled to the base wall section 136 through any coupling techniques (e.g., welding, brazing, fastening, etc.) or may be integrally formed therewith.

An extending portion 155 of the support plate 156 may separate from the base wall section 136 at a transition point 153 where the base wall section 136 transitions to a sidewall section 158 via a curved wall section 157. The extending portion 155 may be perpendicular to the sidewall section 158 of the drum 130. The extending portion 155 may extend to a diameter that is larger than a maximum diameter of the sidewall section 158 of the drum 130. However, in some embodiments, the extending portion 155 may be equal to or less than a maximum diameter of the sidewall section 158 of the drum 130. In the illustrated embodiment, the orbital balancing passage 152 may be arranged at the distal end of the extending portion 155 to maximize the applied moment provided by the first and second counterweight devices 170 a, 170 b. The orbital balancing passage 152 may enclose both the first and second counterweight devices 170 a, 170 b, and the first and second clocksprings 180 a, 180 b between the orbital balancing passage 152 and the support plate 156.

As noted above, the drum 130 may be operatively coupled to the motor 140 via a drive shaft 144 defining the primary rotation axis 102. In embodiments, the drive shaft 144 may be integrally formed within the support plate 156 of the drum 130. In other embodiments, the drive shaft 144 may be fixedly coupled to the support plate 156 or directly fixedly coupled to the drum body 132 via any coupling technique (e.g., welding, brazing, fastening, etc.). It is noted that lead wires from the first and second clocksprings 180 a, 180 b may be routed through openings in the support plate 156 and through a center opening 145 of the drive shaft 144 with communication to the control unit 24 (illustrated in FIGS. 1A and 4). The lead wires 181 a, 181 b from an inner coil of the first and second clocksprings 180 a, 180 b may be connected to a rotational commutation device 182. One side or the rotating end 183 of the rotational commutation device 182 may rotate with the drum 130 and may be installed at a back end of the drive shaft 144. The other side or the non-rotating end 185 of the rotational commutation device 182 does not rotate with the drum 130 and may be connected to the tub 110 or exterior housing 20. The rotational commutation device 182 communicates multiple paths of electrical current from multiple conductors of lead wires to communicate power and sensor signals between the rotating and non-rotating components of the laundry apparatus 10. The rotational commutation device 182 may be a slip ring, brushed commutator, inductive commutator, etc. Lead wires 26 from the non-rotating end of the rotational commutation device 182 can connect to the control unit 24. The control unit 24 may include a drive amplifier (not shown) or other electronic circuits to provide power to the driving motors 174 a, 174 b through the first and second clocksprings 180 a, 180 b to adjust angular position of the first and second counterweight devices 170 a, 170 b. The rotational commutation device 182 can also communicate sensor signals from devices in the rotating drum 130 such as counterweight device position sensors, homing sensors, temperature sensors, force sensors, vibration sensors, load imbalance sensors 146, and accelerometers to the control unit 24 for processing. The rotational commutation device 182 can alternatively communicate power and control signals to an intermediate drive amplifier that may rotate with the drum 130 and is connected to the first and second counterweight devices 170 a, 170 b by the first and second clocksprings 180 a, 180 b.

Referring now to the first and second counterweight devices 170 a, 170 b, the first and second counterweight devices 170 a, 170 b are configured to be controllably moved about the orbital balancing passage 152 to balance an imbalanced laundry load within the laundry apparatus 10. For example, the first and second counterweight devices 170 a, 170 b may have a combined mass that is sufficiently large to balance a moment of a combined full design capacity laundry load saturated with a washing fluid. The first and second counterweight devices 170 a, 170 b can be constructed of a high density material such as steel, cast iron, tungsten, bronze, brass, lead, nickel, copper, aluminum, concrete, ceramic, glass, etc to minimize the volume occupied by the first and second counterweight devices 170 a, 170 b and the orbital balancing passage 152. As will be described in greater detail below, the first counterweight device 170 a and the second counterweight device 170 b may be cooperatively controlled by the control unit 24 in response to detecting the load imbalance in the drum 130 based on the load imbalance signal output by the one or more load imbalance sensors 146.

FIGS. 5A and 5B illustrates a counterweight device 170 in isolation from the tub and drum assembly 100. Each of the first and second counterweight devices 170 a, 170 b may be substantially identical to the counterweight device 170 illustrated in FIGS. 5A and 5B. Referring particularly to FIG. 5A, the counterweight device 170 may include a curved body 172 shaped to travel through the orbital balancing passage 152. The curved body 172 may house one or more weights (not shown). Coupled to the curved body 172 may be a driving motor 174, which is communicatively coupled to the control unit 24 (shown in FIGS. 1A and 4) through the clock spring 180.

Referring to FIG. 5B which illustrates a driving assembly 173 of the counterweight device 170, the driving motor 174 may drive a worm gear 176. The driving motor 174 more be a reversible motor so as to be able to drive the counterweight device 170 in both a clockwise direction and a counterclockwise direction about the orbital balancing passage 152. The worm gear 176 may be meshed with a worm wheel 177 that is mounted to a rotational axis 178. Also mounted to the rotational axis 178 is a pinion gear 171. That is, the pinion gear 171 may share a common rotational axis 178 with the worm wheel 177 such that rotation of the worm wheel 177 rotates the pinion gear 171. Referring again to FIG. 5A, the pinion gear 171 is positioned at an edge 175 of the curved body 172 so as to be able to mesh with the ring gear 167 (illustrated in FIG. 4). Accordingly, rotation of the worm gear 176 by the driving motor 174 causes the pinion gear 171 to rotate, which causes the counterweight device 170 to traverse the ring gear 167 and the orbital balancing passage 152.

The counterweight device 170 may further include one or more wheels 179 positioned along the counterweight body the counterweight wheel may be arranged to contact the orbital balancing passage 152 and/or the retention device when positioned within the orbital balancing passage 152. The one or more wheels 179 may be freely rotatably. In other embodiments, the one or more wheels 179 may be driven wheels (e.g., via a driving motor 174). Alternatively the wheels 179 can be replaced with bushings or bearings that allow relative motion at reduced friction between the counterweight device 170 and the orbital balancing passage 152.

Referring again to FIG. 2C, when assembled, a cross-sectional plane 190, passing through the laundry apparatus 10 at a position orthogonal to the primary rotation axis 102, passes through dynamic balancing assembly 150 (e.g., the first counterweight device 170 a, the second counterweight device 170 b, or a combination thereof), the motor 140, the fluid containment envelope 113, and the first inset wall 119 of tub 110. Note that while the cross-sectional plane 190 can pass through both the motor 140 and dynamic balancing assembly 150, the motor is isolated from washing fluid by the first inset wall 119 of tub 110. The dynamic balancing assembly 150 is directly connected to the drum 130 which allows effective counterbalancing to an imbalance caused by the center of mass 61 of laundry 60 and the first and second counterweight devices 170 a, 170 b. Because of the inset wall 119 of tub 110, the back of the motor 140 may, in some embodiments, be substantially flush with or closely proximate to a plane defined by a rear surface of the dynamic balancing assembly 150 instead of the back of the motor 140 being substantially offset from the back of the dynamic balancing assembly 150 which may cause the rear wall of the exterior housing 20 to increase in depth or to reduce the depth of the drum 130 and reduce the volume of the laundry receiving portion 133. In embodiments wherein the first and second counterweight devices 170 a, 170 b are positioned in parallel but separate planes, the cross-sectional plate may only pass through one of the first counterweight device 170 a or the second counterweight device 170 b. The cross-sectional plane 190 may additionally pass through at least one or the first clockspring 180 a and the second clock spring 180 b. Accordingly, the present design provides for a more efficient use of space within the tub 110 and the laundry apparatus 10 by aligning various components along a common plane 190. Such alignment allows for a greater amount of space to be reserved for the laundry-receiving portion 133 of the drum 130.

Referring again to FIGS. 1 and 2A-2C, to provide for dynamic balancing of the laundry apparatus 10, the laundry apparatus 10 may further include one or more load imbalance sensors 146 communicatively coupled to the control unit 24 and configured to output a load imbalance signal to the control unit 24. The load imbalance signal may be indicative of a load imbalance within the drum 130. For example, the load imbalance signal may be indicative of an angular position and a magnitude of the load imbalance within the drum 130. The one or more load imbalance sensors 146 may be mounted anywhere in the laundry apparatus 10 and attuned to detect balance conditions within the drum 130. For example, the one or more dynamic balancing sensors may include accelerometers and/or motor rotational position sensors to determine a center of mass within the load of laundry to determine if a load imbalance is present. Another embodiment may use motor torque sensors and motor rotational position sensors to determine a center of mass within the load of laundry to determine if a load imbalance is present. In yet further embodiments, force sensors may be used along with motor rotation position sensors to determine a center of mass within the load of laundry to determine if a load imbalance is present. Other sensors may include vibrational sensors or the like to determine the presence of a load imbalance. The load imbalance sensors 146 can detect relative and/or absolute variations in displacement, velocity, and/or acceleration of components of the laundry appliance 10. For instance, a displacement-based load imbalance sensor 146 can measure small changes of displacement between the tub 110 and exterior housing 20 caused by an imbalanced load. In another example, an acceleration-based load imbalance sensor may measure fluctuations of acceleration of an accelerometer mounted to the tub 110. In some embodiments, load imbalance may also be sensed by measuring change in force, torque, or strain between components of the laundry appliance 10. In further embodiments, load imbalance may also be measured by monitoring the current to motor 140. In yet further embodiments, load imbalance can also be determined based on acoustic analysis of noise during operation.

The angular position of the combined center of mass 63 relative to the primary rotation axis 102, as illustrated in FIGS. 1C and 1D, can be determined by measuring the angular position of the center of mass 61 of the laundry 60. This is measured relative to a reference angular position 52 of the drum 130. The reference angular position 52 of the drum 130 may be measured by a drum rotation sensor such as a magnetic or optical proximity sensor, a hall effect sensor, an encoder, resolver, etc. The reference angular position 52 of the drum 130 may, in some embodiments, be measured by motor position sensors. The angular position for center of mass 61 of the laundry 60 may be measured by the load imbalance sensor 146 relative to the reference angular position 52 of the drum 130. Signals from the load imbalance sensor 146 can be analyzed in the time domain or alternatively in the frequency domain. Additionally, a magnitude of the imbalance signal from the load imbalance sensor 146 may be used to estimate the equivalent lumped mass at the center of mass 61 for laundry 60. For example, the total mass of laundry 60 may be measured directly by load cells or strain gauge sensors. In some embodiments, the total mass of the laundry 60 may be calculated based on inertia of the laundry measured by accelerating or decelerating the spinning of the drum 130. Control unit 24 may periodically or continuously calculate an estimate for magnitude and angle of imbalance to be countered by adjusting angular positions of the first and second counterweight devices 170 a, 170 b. The amount of adjustment of the first and second counterweight devices 170 a, 170 b may be calculated by the control unit 24 so as to move the combined center of mass 63 of the laundry 60, the first counterweight device 170 a, and the second counterweight device 170 b, to cause the combined center of mass 63 to be substantially coincident with the primary rotation axis 102 and eliminate or substantially reduce the vibrations that would result from a load imbalance. In embodiments, the control unit may not calculate an amount of adjustment for the first and second counterweight devices 170 a, 170 b. Instead, the control unit may adjust the first and second counterweight devices 170 a, 170 b using a differential “trial and error” solution where angular positions 53 a, 53 b are adjusted until imbalance is reduced and eliminated. Another control strategy can employ a combination of a mathematical control scheme with fine tuning adjustments to further reduce imbalance signal.

FIG. 6 illustrates a flowchart depicting a method 200 for balancing the laundry apparatus 10 as described herein. The method 200 may start at step 202 and may include loading laundry within the laundry apparatus 10 and starting the laundry apparatus 10. At step 204, the method 200 includes rotating the drum 130. At step 206, the method 200 may further include receiving with the control unit 24, a load imbalance signal output by the one or more load imbalance sensors 146. At step 208, the method 200 includes detecting, with the control unit 24, a load imbalance signal output by the one or more load imbalance sensors 146 and determining whether a load imbalance is present within the drum 130 based on the load imbalance signal. Where a load imbalance is not detected, the method 200 may include monitoring the load for the load imbalance signal. Where a load imbalance is detected, the method 200 further includes, at step 210, controlling the dynamic balancing assembly 150 to controllably move the first counterweight device 170 a positioned within the orbital balancing passage 152 to adjust an angular position of the first counterweight device 170 a around the primary rotation axis to counteract a detected load imbalance in the drum 130 and controllably move the second counterweight device 170 b positioned within the orbital balancing passage 152 with the control unit 24 to adjust an angular position of the second counterweight device 170 b around the primary rotation axis to counteract the detected load imbalance in the drum 130. The control unit 24 may continue to monitor the laundry apparatus 10 for further load imbalances. In embodiments, the control unit 24 may only detect load imbalances and initiate movement of the first and second counterweight devices 170 a, 170 b during certain laundry cycles (e.g., the spin cycle). For example, the method may include monitoring the drum 130 with the one or more load imbalance sensors 146 continuously during acceleration from a satellite speed (e.g., a base operating speed sufficient for the centripetal acceleration to exceed gravitation acceleration) to a maximum water extraction speed (e.g., 800 RPM or greater, 1,000 RPM or greater, etc.).

The dynamic balancing assembly 150 illustrated in FIG. 2C, is illustrative of a single plane balancer where in the counterweight devices 170 a, 170 b are located on a single plane (i.e., within the same plane) perpendicular to the primary rotation axis 102. Single plane balancing may be effective in many instances. In particular, single plane balancing is effective when the depth of the drum 130 is relatively shallow such that the center of mass 61 for laundry 60 is in proximity with the plane of the counterweight devices 170 a, 170 b. Single plane balancing may also be particularly effective when the geometry of the drum 130 causes the center of mass 61 for laundry 60 to remain in proximity with a plane in which the counterweight devices 170 a, 170 b are supported. Tilting the primary rotation axis 102 so that the back of the drum 130 with the dynamic balancing assembly 150 is lower than the front of the drum 130 could cause the laundry 60 to slide toward the back of the drum due to gravitational acceleration so as to be closely positioned to the dynamic balancing assembly 150.

However, in other embodiments, counterweight devices can be located within two or more planes perpendicular to the primary rotation axis 102. Two plane dynamic balance may be accomplished by configuring the tub and drum assembly 100 to include two or more dynamic balancing assemblies 150. The two or more dynamic balancing assemblies 150 may be provided with some axial separation along the primary rotation axis 102. Each of the two or more dynamic balancing assemblies 150 will be coincident with a plane oriented perpendicular to the primary rotation axis 102. Two plane balancing may be additionally effective at eliminating imbalances created when the center of mass 61 of the laundry 60 is not in proximity with a single plane supporting the counterweight devices 170. Two plane balancing can be useful when the depth of the drum 130 is deep (e.g., depth of the drum to diameter ratio is greater than 1) and the center of mass 61 of the laundry cannot be moved proximate to a single plane supporting the counterweight devices during operation.

FIGS. 7A-7H show some schematic illustrative embodiments of tub and drum assemblies 100 with various configurations including two or more dynamic balancing assemblies 150. FIG. 7A illustrates a tub and drum assembly 100 with a cantilevered drum 130 configured for single plane balancing with a single dynamic balancing assembly 150 mounted to the rear of the drum 130, such as discussed in greater detail above. The cantilevered drum 130 employs a main bearing assembly 159, such as illustrated in FIG. 1C at the rear of the drum. A motor 140 is coupled to the rear of the drum and mounted concentrically inset relative to the dynamic balancing assembly 150.

FIG. 7B illustrates a tub and drum assembly 100 with a cantilevered drum 130 configured for two plane balancing with a first dynamic balancing assembly 150 a mounted to the rear of the drum 130 and a second dynamic balancing assembly 150 b mounted to the front of the drum 130. A Motor 140 is coupled to the rear of the drum 130 and mounted concentrically inset relative to the first dynamic balancing assembly 150 a.

FIG. 7C illustrates a tub and drum assembly 100 with a cantilevered drum 130 configured for two plane balancing with a first dynamic balancing assembly 150 a mounted to the rear of the drum 130 and a second dynamic balancing assembly 150 b mounted to the inside rear of the drum 130. A Motor 140 is coupled to the rear of the drum 130 and mounted concentrically inset relative to the first dynamic balancing assembly 150 a.

FIG. 7D illustrates a tub and drum assembly 100 with a cantilevered drum 130 configured for two plane balancing with a first dynamic balancing assembly 150 a mounted to the rear of the drum 130 and a second dynamic balancing assembly 150 b mounted behind the first dynamic balancing assembly 150 a. A motor 140 is coupled to the rear of the drum 130 and mounted concentrically inset relative to the first and second dynamic balancing assemblies 150 a, 150 b.

FIG. 7E illustrates a tub and drum assembly 100 with a simply supported drum 130 (e.g., supported at both the front end and the rear end of the drum) configured for single plane balancing with a single dynamic balancing assembly 150 mounted to the rear of the drum 130. The simply supported drum 130 may employ main bearing assemblies (not shown) at the rear and front of the drum 130. A motor 140 is coupled to the rear of the drum 130 and mounted concentrically inset relative to the dynamic balancing assembly 150.

FIG. 7F illustrates a tub and drum assembly 100 with a simply supported drum 130 configured for two plane balancing with a first dynamic balancing assembly 150 a mounted to the rear of the drum 130 and a second dynamic balancing assembly 150 b mounted to the front of the drum 130. Motors 140 a, 140 b are coupled to the rear and front of the drum 130 and mounted concentrically inset relative to respective the first and second dynamic balancing assemblies 150 a, 150 b.

FIG. 7G illustrates a tub and drum assembly 100 with a simply supported drum 130 configured for two plane balancing with a first dynamic balancing assembly 150 a mounted to the rear of the drum 130 and a second dynamic balancing assembly 150 b mounted to the front of the drum 130. A Motor 140 is coupled to the rear of the drum and mounted concentrically inset relative to the first dynamic balancing assembly 150 a.

FIG. 7H illustrates a tub and drum assembly 100 with a simply supported drum 130 configured for two plane balancing with a first dynamic balancing assembly 150 a mounted to the rear of the drum 130 and a second dynamic balancing assembly 150 b mounted behind the first dynamic balancing assembly 150 a. A Motor 140 is coupled to the rear of the drum and mounted concentrically inset relative to the first and second dynamic balancing assemblies 150 a, 150 b.

Alternatively for the embodiments illustrated in FIGS. 7A-7H, a passive dynamic balancing assembly such as a simple fluid and weighted ball filled balancing ring could be used in place of an active dynamic balancing assembly controlled by a control unit. Alternatively for the embodiments illustrated in FIGS. 7A-7H, the dynamic balancing assembly 150 could use means for dynamically balancing other than adjusting angular position of counterweight devices 170. Some alternative embodiments may include counterweights having an adjustable radial position from primary rotation axis 102, variable mass bodies such as fluid or powder filled bladders or cylinders, orbital masses that can shift off-center from primary rotation axis 102, rings filled with weighted balls with adjustable orbital position by magnetic attraction, etc.

Referring now to FIGS. 8A and 8B, the tub and drum assembly 100 is located inside of the exterior housing 20 of a laundry apparatus 10. The tub 110 may be attached to the exterior housing 20 via a displaceable suspension 30. The displaceable suspension 30 may include any tuned passive elements used to reduce vibrations or the effects thereof, including, but not limited to, springs 31, additional suspension mass(es) 32 attached to the tub, and dampers 33 designed to reduce transmittance of vibrations and absorb energy from spinning imbalanced laundry to the exterior housing 20, or the like. The displaceable suspension 30 allows the tub 110 to displace relative to the exterior housing 20. The displacement of the tub 110 may cause travel in any direction. For example the direction of travel can be in the radial direction or axial direction relative to the primary rotation axis 102. Significant displacement of the tub may absorb vibrations and dampen the motion of a vibrating tub and drum assembly 100. In some embodiments, the displaceable suspension 30 may include active members such as linear motors, torsional motors, dampers with magnetorheological fluid, voice coil actuators, pneumatic actuators, magnetic actuators, etc. to dampen vibrations. Passive and active suspension members may rely on relative motion between the tub and drum assembly 100 and the exterior housing 20 to absorb vibrations transmitted to exterior housing 20.

A travel volume 35 surrounding the tub 110 may be delineated by a swept volume of the tub and drum assembly 100 following the maximum possible travel distance 34 in all directions. That is, the travel volume 35 may be space within the exterior housing left empty or free from obstructions between the tub 110 and exterior housing 20 to accommodate movement of the tub and drum assembly 100. The provide enough space for the travel volume 35, the interior of the exterior housing 20 may be significantly larger than the exterior dimensions of the tub 110. This may create a practical limitation to the size of the tub and drum assembly 100 and internal laundry capacity for a given exterior housing size. If the diameter of the tub and drum assembly 100 approaches the inside width or height of the exterior housing 20, the displaceable suspension 30 would have limited travel space available and would be unable to isolate vibration from the tub and drum assembly 100 to the exterior housing 20. Likewise, if the axial depth of the tub and drum assembly 100 approaches the inside depth of the exterior housing 20, the displaceable suspension 30 would have limited travel space available and would be unable to isolate vibration due to load imbalance from transmitting to the exterior housing 20.

The addition of a dynamic balancing assembly 150 described above to a laundry apparatus 10 using a displaceable suspension 30 can greatly reduce or eliminate the vibrations generated by the laundry imbalance. If the masses of the first and second counterweight devices 170 a, 170 b are not sized to balance the potential imbalance of the largest possible laundry load, then some imbalance can still be generated even with the dynamic balancing assembly 150 and the displaceable suspension 30 may dampen the remaining vibration through displacement of the displaceable suspension. The addition of the dynamic balancing assembly 150 may reduce the maximum travel distance 34 and can reduce the travel volume 35 needed to allow for the maximum travel. For example, the maximum travel distance for the tub and drum assembly 100 may be less than about 6 mm. In such embodiments, the dimensions of the tub and drum assembly 100 may be enlarged such that the travel volume 35 extends to an interior surface of the exterior housing 20. Stated another way, the tub and drum assembly 100 may be in much closer proximity to the exterior housing 20, so as to fill up more of the space within the exterior housing 20.

A dynamic balancing assembly 150 can greatly reduce or eliminate vibration transmitted to the laundry apparatus 10 from laundry imbalance. Elimination of imbalance and vibration can allow construction of a laundry apparatus 10 without a displaceable suspension 30. Referring to FIGS. 9A and 9B, the tub and drum assembly 100 may be located inside of the exterior housing 20 of a laundry apparatus 10 by attaching the tub 110 to the exterior housing 20 with one or more tub mounts 40 or a plurality of tub mounts. The tub mounts 40 include of a plurality of various mounting interfaces to attach the tub 110 to the exterior housing 20. The tub mounts 40 may be components separate from the tub 110 and exterior housing 20 or may be integral to the tub 110 and/or the exterior housing 20. The tub mounts 40 can include any rigid or stiff material that has minimal displacement during loading of laundry 60 into drum 130. The tub mounts 40 may alternatively provide some compliance and may allow minimal displacement (e.g., for example a maximum displacement of 6 mm or less with 25 lb force applied). Compliant tub mounts 40 may be constructed using vibration isolators, elastomeric motor mounts, stiff springs (e.g., a spring having a maximum extension/contraction of 6 mm or less), fluid filled motor mounts, etc. The tub mounts 40 may be produced from any material including, but not limited to a polymer, elastomeric, metallic components, or any combination thereof. The tub mounts 40 can be attached by bolts, screws, rivets, adhesive, welding, etc.

A dynamically balanced tub and drum assembly 100 with dynamic balancing assembly 150 supported by tub mounts 40 may be substantially free from vibration during operation such that the tub 110 will not substantially move relative to the exterior housing 20. A balanced tub and drum assembly 100 without a displaceable suspension 30 may not require any of the travel volume 35 or a greatly reduced travel volume and will allow the tub and drum assembly 100 to fully occupy the interior volume of the exterior housing 20. Given the same dimensions of exterior housing 20, the tub and drum assembly 100 without a displaceable suspension 30 may be significantly larger than the tub and drum assembly 100 with a displaceable suspension 30. The larger tub and drum assembly may have more interior volume in the laundry receiving portion 133 and may accommodate more laundry 60. Similarly, given the same dimensions for the tub and drum assembly 100 and the same laundry 60 capacity, the exterior housing 20 without a displaceable suspension 30 can be significantly smaller than the exterior housing 20 with a displaceable suspension 30. Eliminating the displaceable suspension 30 by applying a dynamic balancing assembly 150 may allow for construction of a compact laundry apparatus with useful volume of laundry receiving portion 133 and laundry 60 capacity. Eliminating the displaceable suspension 30 by applying a dynamic balancing assembly 150 may also allow for construction of a standard size laundry apparatus with superior volume of laundry receiving portion 133 and laundry 60 capacity.

It may be impractical to construct a compact laundry apparatus with very small external housing dimensions if the tub and drum assembly 100 are supported by a displaceable suspension 30 that accommodates a maximum travel of 25.4 mm, as the resulting laundry capacity may be very small. It is especially impractical to construct a compact laundry apparatus with an external housing 20 of a very small depth (e.g., 32 cm or less) if the tub and drum assembly 100 are supported by a displaceable suspension 30 with a maximum travel of 25.4 mm as the resulting laundry capacity would still be very small. TABLE 1 compares drum internal volume and drum dimensions for four different laundry apparatus configurations having varying exterior housing dimensions compared with and without a displaceable suspension. The radial and axial travel for the examples are is about 2.5 cm. The laundry apparatus configurations with the dynamic balancing assembly 150 and no suspension has larger drum 130 volume by 37.4%-92.7%.

TABLE 1 Dimension Comparison with and without Dynamic Balancing Assembly With Suspension with With Dynamic Balancing 25.4 mm Travel Assembly and No Suspension Housing Housing Housing Drum Drum Drum Drum Outer Outer Outer Internal Internal Drum Internal Internal Drum Width Height Depth Depth Diameter Volume Depth Diameter Volume (mm) (mm) (mm) (mm) (mm) (liter) (mm) (mm) (liter) 610 762 305 102 483 19 152 533 34 610 762 406 203 483 37 254 533 57 610 762 610 406 483 74 457 533 102 508 610 305 102 381 12 152 432 22

In some embodiments, instead of maximizing drum volume, the additional space provided by eliminating the displaceable suspension and/or the travel volume may be used for packing various internal laundry apparatus components 41 inside the volume of a laundry apparatus 10. Traditionally, packaging internal laundry apparatus components has been challenging especially when the exterior housing 20 has compact dimensions or if the laundry apparatus is a combination washer/dryer. Referring to FIGS. 10A and 10B, the tub and drum assembly 100 is located inside of the exterior housing 20 of a laundry apparatus 10 by attaching the tub 110 to the exterior housing 20 with a tub mounts 40, as described above. As noted above, the tub and drum assembly 100 with dynamic balancing assembly 150 may be constructed without a displaceable suspension and will not require any travel volume or only a small travel volume (e.g., 6 mm or less radially in any direction and 6 mm axially). If the exterior dimensions of the tub and drum assembly 100 are smaller than the internal dimensions inside the exterior housing 20, the volume between the tub and drum assembly 100 and the exterior housing 20 may be used for placement of laundry apparatus components 41. Laundry apparatus components 41 can include, but are not limited to, pumps, water hoses, air ducts, water storage sumps, power supplies, control units, electronic circuitry, sensors, air heaters, water heaters, drying components, condensation equipment, refrigeration components, moisture storage components, vessels for storage of water. Storage of detergent and chemicals, detergent and chemical dispensers, fans, storage of hoses, hose reels, casters, etc. Substantial elimination of the travel volume 35 of the tub 110 allows design of a laundry apparatus 10 with a high volume capacity for the laundry-receiving portion 133 and volume to install internal laundry apparatus components 41. For example, positions in which the tub and drum assembly 100 is closest to the various surfaces (e.g., front, back, top, bottom, or sidewall), may define pinch points PP. Without using the active balancing assembly 150, a displaceable suspension as illustrated in FIG. 8A may be necessary for damping vibrations. Accordingly, the travel volume 35 necessary to allow for movement of the displaceable suspension likely provides too little space for storage of laundry apparatus components 41 within the pinch points PP, whereas, and as illustrated in FIG. 10A, laundry apparatus components may be positioned in the pinch points PP, without encroaching on the space needed for the travel volume 35.

Embodiments can be described with reference to the following numbered clauses, with preferred features laid out in the dependent clauses.

1. A laundry apparatus comprising: a tub defining a fluid containment envelope; a drum positioned within the fluid containment envelope of the tub and rotatable relative to the tub about a primary rotation axis, the drum comprising a receiving portion for receiving one or more articles of laundry; a control unit; a motor coupled to the tub, wherein the motor is communicatively coupled to the control unit and operatively coupled to the drum to cause rotation of the drum, wherein the motor is isolated from fluid within the fluid containment envelope; one or more load imbalance sensors communicatively coupled to the control unit and configured to output a load imbalance signal to the control unit, the load imbalance signal being indicative of a load imbalance within the drum; and a dynamic balancing assembly communicatively coupled to the control unit, the dynamic balancing assembly comprising: an orbital balancing passage arranged concentrically around the motor; a first counterweight device positioned within the orbital balancing passage and responsive to the control unit, wherein the control unit controllably moves the first counterweight device along the orbital balancing passage to adjust an angular position of the first counterweight device around the primary rotation axis to counteract a detected load imbalance in the drum; and a second counterweight device positioned within the orbital balancing passage and responsive to the control unit, wherein the control unit controllably moves the second counterweight device along the orbital balancing passage to adjust an angular position of the second counterweight device around the primary rotation axis to counteract the detected load imbalance in the drum; wherein a cross-sectional plane passing through the laundry apparatus at a position orthogonal to the primary rotation axis passes through the dynamic balancing assembly, the motor, and the fluid containment envelope of the tub.

2. The laundry apparatus of clause 1, further comprising a main bearing assembly fixedly attached to the tub and operatively connected to the drum providing radial and axial support to the drum.

3. The laundry apparatus of any preceding clause, wherein: the dynamic balancing assembly comprises an orbital positioning device positioned to restrain a first angular position of the first counterweight device and a second angular position of the second counterweight device within the orbital balancing passage; and the first counterweight device and the second counterweight device are constrained into contact with the orbital balancing passage.

4. The laundry apparatus of any preceding clause, wherein: the tub further comprises a motor receiving envelope that extends into a volume of the fluid containment envelope; the motor is positioned within the motor receiving envelope; and the motor receiving envelope is isolated from the fluid within the fluid containment envelope.

5. The laundry apparatus of clause 4, wherein the motor receiving envelope comprises a first inset wall extending into the volume of the fluid containment envelope between the motor and the orbital balancing passage.

6. The laundry apparatus of any preceding clause, wherein at least a surface of the tub and a surface of the motor are substantially flush with one another.

7. The laundry apparatus of any preceding clause, wherein the first counterweight device and the second counterweight device each comprise a driving motor that causes a respective counterweight device to travel along the orbital balancing passage.

8. The laundry apparatus of any preceding clause, wherein the first counterweight device and the second counterweight device are cooperatively controlled by the control unit in response to detecting the load imbalance in the drum based on the load imbalance signal output by the one or more load imbalance sensors.

9. The laundry apparatus of any preceding clause, wherein the first counterweight device and the second counterweight device orbit the primary rotation axis within the orbital balancing passage and at constant radius from the primary rotation axis.

10. The laundry apparatus of any preceding clause, wherein the laundry apparatus is a front-load washing machine.

11. A laundry apparatus comprising: a tub comprising a fluid containment envelope and a motor receiving envelope that extends into a volume of the fluid containment envelope and is isolated from fluid received in the fluid containment envelope; a drum positioned within the fluid containment envelope of the tub and rotatable relative to the tub about a primary rotation axis centrally positioned in the tub, the drum comprising a receiving portion for receiving one or more articles of laundry; a control unit; a motor positioned within the motor receiving envelope such that the motor is positioned within the volume of the fluid containment envelope and isolated from the fluid received in the fluid containment envelope, wherein the motor is communicatively coupled to the control unit and operatively coupled to the drum to cause rotation of the drum; one or more load imbalance sensors communicatively coupled to the control unit and configured to output a load imbalance signal to the control unit, the load imbalance signal being indicative of a load imbalance within the drum; and a dynamic balancing assembly communicatively coupled to the control unit and attached to the drum within the fluid containment envelope, the dynamic balancing assembly comprising: an orbital balancing passage arranged concentrically around the motor; a first counterweight device positioned within the orbital balancing passage and responsive to the control unit, wherein the control unit controllably moves the first counterweight device along the orbital balancing passage to adjust an angular position of the first counterweight device around the primary rotation axis to counteract a detected load imbalance in the drum; and a second counterweight device positioned within the orbital balancing passage and responsive to the control unit, wherein the control unit controllably moves the second counterweight device along the orbital balancing passage to adjust an angular position of the second counterweight device around the primary rotation axis to counteract the detected load imbalance in the drum; wherein a cross-sectional plane passing through the laundry apparatus at a position orthogonal to the primary rotation axis passes through the dynamic balancing assembly, the motor receiving envelope of the tub, and the fluid containment envelope of the tub.

12. The laundry apparatus of clause 11, further comprising a main bearing assembly fixedly attached to the tub and operatively connected to the drum providing radial and axial support to the drum.

13. The laundry apparatus of clause 11 or 12, wherein: the dynamic balancing assembly comprises an orbital positioning device positioned to restrain a first angular position of the first counterweight device and a second angular position of the second counterweight device within the orbital balancing passage; and the first counterweight device and the second counterweight device are constrained into contact with the orbital balancing passage.

14. The laundry apparatus of any of clauses 11-13, wherein at least a surface of the tub and a surface of the motor are substantially flush with one another.

15. The laundry apparatus of any of clauses 11-14, wherein the first counterweight device and the second counterweight device each comprise a driving motor that causes a respective counterweight device to travel along the orbital balancing passage.

16. A method of balancing a laundry apparatus comprising: rotating a drum positioned within a fluid containment envelope of a tub with a motor about a primary rotation axis, the motor being positioned within a motor receiving envelope that isolates the motor from a fluid within the fluid containment envelope; detecting, with a control unit, a load imbalance signal output by one or more load imbalance sensors, wherein the load imbalance signal is indicative of a load imbalance within the drum; and controlling a dynamic balancing assembly coupled to the drum and positioned within the fluid containment enveloped, the dynamic balancing assembly comprising an orbital balancing passage arranged concentrically around the motor, a first counterweight device positioned within the orbital balancing passage, and a second counterweight device positioned within the orbital balancing passage, to: controllably move the first counterweight device positioned within the orbital balancing passage to adjust an angular position of the first counterweight device around the primary rotation axis to counteract a detected load imbalance in the drum; and controllably move the second counterweight device positioned within the orbital balancing passage with the control unit to adjust an angular position of the second counterweight device around the primary rotation axis to counteract the detected load imbalance in the drum, wherein a cross-sectional plane passing through the laundry apparatus at a position orthogonal to the primary rotation axis passes through the dynamic balancing assembly, the motor, and the fluid containment envelope of the tub.

17. The method of clause 16, wherein the load imbalance signal is indicative of an angular position of a load within the drum and a magnitude of the load imbalance within the drum.

18. The method of clause 16 or 17, further comprising monitoring the drum with the one or more load imbalance sensors continuously during acceleration from a satellite speed to a maximum water extraction speed.

19. The method of any of clauses 16-18, wherein the first counterweight device and the second counterweight device each comprise a driving motor communicatively coupled to the control unit cause a respective counterweight device to travel along the orbital balancing passage.

20. The method of any of clauses 16-19, wherein the motor receiving envelope extends into a volume of the fluid containment envelope.

It should now be understood that embodiments described herein are generally directed to a laundry apparatuses that include dynamic balancing assemblies that maximize volumetric space for receiving laundry. For example, and as illustrated in the figures, a laundry apparatus according to the present disclosure generally includes a tub, a drum, and a dynamic balancing assembly. The drum is positioned within a fluid containment envelope of the tub and is rotatable relative to the tub about a primary rotation axis 102 102, the drum defines a laundry-receiving portion for receiving one or more articles of laundry. The dynamic balancing assembly includes an orbital balancing passage, arranged concentrically around a motor of the laundry apparatus, and first and second counterweight devices are positioned within the orbital balancing passage. The dynamic balancing assembly is positioned relative to the tub and/or drum so that a common cross-sectional plane passes through the dynamic balancing assembly, the motor, and the fluid containment envelope of the tub.

The dimensions and values disclosed herein are not to be understood as being strictly limited to the exact numerical values recited. Instead, unless otherwise specified, each such dimension is intended to mean both the recited value and a functionally equivalent range surrounding that value. For example, a dimension disclosed as “40 mm” is intended to mean “about 40 mm” 

What is claimed is:
 1. A laundry apparatus comprising: a tub defining a fluid containment envelope; a drum positioned within the fluid containment envelope of the tub and rotatable relative to the tub about a primary rotation axis, the drum comprising a laundry-receiving portion for receiving one or more articles of laundry; a control unit; a motor coupled to the tub, wherein the motor is communicatively coupled to the control unit and operatively coupled to the drum to cause rotation of the drum, wherein the motor is isolated from fluid within the fluid containment envelope; one or more load imbalance sensors communicatively coupled to the control unit and configured to output a load imbalance signal to the control unit, the load imbalance signal being indicative of a load imbalance within the drum; and a dynamic balancing assembly communicatively coupled to the control unit, the dynamic balancing assembly comprising: an orbital balancing passage arranged concentrically around the motor; a first counterweight device positioned within the orbital balancing passage and responsive to the control unit, wherein the control unit controllably moves the first counterweight device along the orbital balancing passage to adjust an angular position of the first counterweight device around the primary rotation axis to counteract a detected load imbalance in the drum; and a second counterweight device positioned within the orbital balancing passage and responsive to the control unit, wherein the control unit controllably moves the second counterweight device along the orbital balancing passage to adjust an angular position of the second counterweight device around the primary rotation axis to counteract the detected load imbalance in the drum; wherein a cross-sectional plane passing through the laundry apparatus at a position orthogonal to the primary rotation axis passes through the dynamic balancing assembly, the motor, and the fluid containment envelope of the tub.
 2. The laundry apparatus of claim 1, further comprising a main bearing assembly fixedly attached to the tub and operatively connected to the drum providing radial and axial support to the drum.
 3. The laundry apparatus of claim 1, wherein: the dynamic balancing assembly comprises an orbital positioning device positioned to restrain a first angular position of the first counterweight device and a second angular position of the second counterweight device within the orbital balancing passage; and the first counterweight device and the second counterweight device are constrained into contact with the orbital balancing passage.
 4. The laundry apparatus of claim 1, wherein: the tub further comprises a motor receiving envelope that extends into a volume of the fluid containment envelope; the motor is positioned within the motor receiving envelope; and the motor receiving envelope is isolated from the fluid within the fluid containment envelope.
 5. The laundry apparatus of claim 4, wherein the motor receiving envelope comprises a first inset wall extending into the volume of the fluid containment envelope between the motor and the orbital balancing passage.
 6. The laundry apparatus of claim 1, wherein at least a surface of the tub and a surface of the motor are substantially flush with one another.
 7. The laundry apparatus of claim 1, wherein the first counterweight device and the second counterweight device each comprise a driving motor that causes a respective counterweight device to travel along the orbital balancing passage.
 8. The laundry apparatus of claim 1, wherein the first counterweight device and the second counterweight device are cooperatively controlled by the control unit in response to detecting the load imbalance in the drum based on the load imbalance signal output by the one or more load imbalance sensors.
 9. The laundry apparatus of claim 1, wherein the first counterweight device and the second counterweight device orbit the primary rotation axis within the orbital balancing passage and at constant radius from the primary rotation axis.
 10. The laundry apparatus of claim 1, wherein the laundry apparatus is a front-load washing machine.
 11. A laundry apparatus comprising: a tub comprising a fluid containment envelope and a motor receiving envelope that extends into a volume of the fluid containment envelope and is isolated from fluid received in the fluid containment envelope; a drum positioned within the fluid containment envelope of the tub and rotatable relative to the tub about a primary rotation axis centrally positioned in the tub, the drum comprising a laundry-receiving portion for receiving one or more articles of laundry; a control unit; a motor positioned within the motor receiving envelope such that the motor is positioned within the volume of the fluid containment envelope and isolated from the fluid received in the fluid containment envelope, wherein the motor is communicatively coupled to the control unit and operatively coupled to the drum to cause rotation of the drum; one or more load imbalance sensors communicatively coupled to the control unit and configured to output a load imbalance signal to the control unit, the load imbalance signal being indicative of a load imbalance within the drum; and a dynamic balancing assembly communicatively coupled to the control unit and attached to the drum within the fluid containment envelope, the dynamic balancing assembly comprising: an orbital balancing passage arranged concentrically around the motor; a first counterweight device positioned within the orbital balancing passage and responsive to the control unit, wherein the control unit controllably moves the first counterweight device along the orbital balancing passage to adjust an angular position of the first counterweight device around the primary rotation axis to counteract a detected load imbalance in the drum; and a second counterweight device positioned within the orbital balancing passage and responsive to the control unit, wherein the control unit controllably moves the second counterweight device along the orbital balancing passage to adjust an angular position of the second counterweight device around the primary rotation axis to counteract the detected load imbalance in the drum; wherein a cross-sectional plane passing through the laundry apparatus at a position orthogonal to the primary rotation axis passes through the dynamic balancing assembly, the motor receiving envelope of the tub, and the fluid containment envelope of the tub.
 12. The laundry apparatus of claim 11, further comprising a main bearing assembly fixedly attached to the tub and operatively connected to the drum providing radial and axial support to the drum.
 13. The laundry apparatus of claim 11, wherein: the dynamic balancing assembly comprises an orbital positioning device positioned to restrain a first angular position of the first counterweight device and a second angular position of the second counterweight device within the orbital balancing passage; and the first counterweight device and the second counterweight device are constrained into contact with the orbital balancing passage.
 14. The laundry apparatus of claim 11, wherein at least a surface of the tub and a surface of the motor are substantially flush with one another.
 15. The laundry apparatus of claim 11, wherein the first counterweight device and the second counterweight device each comprise a driving motor that causes a respective counterweight device to travel along the orbital balancing passage.
 16. A method of balancing a laundry apparatus comprising: rotating a drum positioned within a fluid containment envelope of a tub with a motor about a primary rotation axis, the motor being positioned within a motor receiving envelope that isolates the motor from a fluid within the fluid containment envelope; detecting, with a control unit, a load imbalance signal output by one or more load imbalance sensors, wherein the load imbalance signal is indicative of a load imbalance within the drum; and controlling a dynamic balancing assembly coupled to the drum and positioned within the fluid containment envelope, the dynamic balancing assembly comprising an orbital balancing passage arranged concentrically around the motor, a first counterweight device positioned within the orbital balancing passage, and a second counterweight device positioned within the orbital balancing passage, to: controllably move the first counterweight device positioned within the orbital balancing passage to adjust an angular position of the first counterweight device around the primary rotation axis to counteract a detected load imbalance in the drum; and controllably move the second counterweight device positioned within the orbital balancing passage with the control unit to adjust an angular position of the second counterweight device around the primary rotation axis to counteract the detected load imbalance in the drum, wherein a cross-sectional plane passing through the laundry apparatus at a position orthogonal to the primary rotation axis passes through the dynamic balancing assembly, the motor, and the fluid containment envelope of the tub.
 17. The method of claim 16, wherein the load imbalance signal is indicative of an angular position of a load within the drum and a magnitude of the load imbalance within the drum.
 18. The method of claim 16, further comprising monitoring the drum with the one or more load imbalance sensors continuously during acceleration from a satellite speed to a maximum water extraction speed.
 19. The method of claim 16, wherein the first counterweight device and the second counterweight device each comprise a driving motor communicatively coupled to the control unit to cause a respective counterweight device to travel along the orbital balancing passage.
 20. The method of claim 16, wherein the motor receiving envelope extends into a volume of the fluid containment envelope. 